Download or read book Applying Inter layer Conflict Resolution to Hybrid Robot Control Architectures written by Matthew D. Powers and published by . This book was released on 2010 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: In this document, we propose and examine the novel use of a learning mechanism between the reactive and deliberative layers of a hybrid robot control architecture. Balancing the need to achieve complex goals and meet real-time constraints, many modern mobile robot navigation control systems make use of a hybrid deliberative-reactive architecture. In this paradigm, a high-level deliberative layer plans routes or actions toward a known goal, based on accumulated world knowledge. A low-level reactive layer selects motor commands based on current sensor data and the deliberative layer's plan. The desired system-level effect of this architecture is that the robot is able to combine complex reasoning toward global objectives with quick reaction to local constraints. Implicit in this type of architecture, is the assumption that both layers are using the same model of the robot's capabilities and constraints. It may happen, for example, due to differences in representation of the robot's kinematic constraints, that the deliberative layer creates a plan that the reactive layer cannot follow. This sort of conflict may cause a degradation in system-level performance, if not complete navigational deadlock. Traditionally, it has been the task of the robot designer to ensure that the layers operate in a compatible manner. However, this is a complex, empirical task.
Download or read book A Hybrid Multi robot Control Architecture written by Daylond James Hooper and published by . This book was released on 2007 with total page 204 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Dynamic Behavior Sequencing in a Hybrid Robot Architecture written by Jeffrey P. Duffy and published by . This book was released on 2008 with total page 248 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Agent Based Manufacturing written by S.M. Deen and published by Springer Science & Business Media. This book was released on 2013-04-17 with total page 326 pages. Available in PDF, EPUB and Kindle. Book excerpt: Low-volume high-variety products like personalized cars or customized engines will be the key issues for manufacturing in the 21st century. The necessary control technology is based on the concept of holons, which are the units of production and behave as autonomous and cooperative agents, providing flexibility, adaptability, agility, and dynamic reconfigurability. This book presents the latest research results in agent-based manufacturing as carried out by researchers in academia and industry within the international "Holonic Manufacturing Systems" project. As this project was driven by industry, the results presented here are of vital interest not just to researchers in agent technologies or distributed artificial intelligence, but also to engineers and professionals in industry who have to respond to rapid changes and new demands in production.
Download or read book European Robotics Symposium 2006 written by Henrik Christensen and published by Springer Science & Business Media. This book was released on 2006-03-02 with total page 236 pages. Available in PDF, EPUB and Kindle. Book excerpt: This unique reference represents a cross-section of forefront robotics research, ranging from robotics and systems to learning, autonomy and failure detection, from vision and navigation to localization and mapping, which are based on the papers presented at the 1st European Robotics Symposium (EUROS-06) held in Palermo, Italy from 16-18 March, 2006. The European Robotics Symposium (EUROS) is a brand-new International scientific event promoted by EURON, the European Robotics Network.
Download or read book Modelling and Control of Robot Manipulators written by Lorenzo Sciavicco and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 391 pages. Available in PDF, EPUB and Kindle. Book excerpt: Fundamental and technological topics are blended uniquely and developed clearly in nine chapters with a gradually increasing level of complexity. A wide variety of relevant problems is raised throughout, and the proper tools to find engineering-oriented solutions are introduced and explained, step by step. Fundamental coverage includes: Kinematics; Statics and dynamics of manipulators; Trajectory planning and motion control in free space. Technological aspects include: Actuators; Sensors; Hardware/software control architectures; Industrial robot-control algorithms. Furthermore, established research results involving description of end-effector orientation, closed kinematic chains, kinematic redundancy and singularities, dynamic parameter identification, robust and adaptive control and force/motion control are provided. To provide readers with a homogeneous background, three appendices are included on: Linear algebra; Rigid-body mechanics; Feedback control. To acquire practical skill, more than 50 examples and case studies are carefully worked out and interwoven through the text, with frequent resort to simulation. In addition, more than 80 end-of-chapter exercises are proposed, and the book is accompanied by a solutions manual containing the MATLAB code for computer problems; this is available from the publisher free of charge to those adopting this work as a textbook for courses.
Download or read book Robot Force Control written by Bruno Siciliano and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 154 pages. Available in PDF, EPUB and Kindle. Book excerpt: One of the fundamental requirements for the success of a robot task is the capability to handle interaction between manipulator and environment. The quantity that describes the state of interaction more effectively is the contact force at the manipulator's end effector. High values of contact force are generally undesirable since they may stress both the manipulator and the manipulated object; hence the need to seek for effective force control strategies. The book provides a theoretical and experimental treatment of robot interaction control. In the framework of model-based operational space control, stiffness control and impedance control are presented as the basic strategies for indirect force control; a key feature is the coverage of six-degree-of-freedom interaction tasks and manipulator kinematic redundancy. Then, direct force control strategies are presented which are obtained from motion control schemes suitably modified by the closure of an outer force regulation feedback loop. Finally, advanced force and position control strategies are presented which include passivity-based, adaptive and output feedback control schemes. Remarkably, all control schemes are experimentally tested on a setup consisting of a seven-joint industrial robot with open control architecture and force/torque sensor. The topic of robot force control is not treated in depth in robotics textbooks, in spite of its crucial importance for practical manipulation tasks. In the few books addressing this topic, the material is often limited to single-degree-of-freedom tasks. On the other hand, several results are available in the robotics literature but no dedicated monograph exists. The book is thus aimed at filling this gap by providing a theoretical and experimental treatment of robot force control.
Download or read book The Robotics Primer written by Maja J. Mataric and published by MIT Press. This book was released on 2007-08-17 with total page 325 pages. Available in PDF, EPUB and Kindle. Book excerpt: A broadly accessible introduction to robotics that spans the most basic concepts and the most novel applications; for students, teachers, and hobbyists. The Robotics Primer offers a broadly accessible introduction to robotics for students at pre-university and university levels, robot hobbyists, and anyone interested in this burgeoning field. The text takes the reader from the most basic concepts (including perception and movement) to the most novel and sophisticated applications and topics (humanoids, shape-shifting robots, space robotics), with an emphasis on what it takes to create autonomous intelligent robot behavior. The core concepts of robotics are carried through from fundamental definitions to more complex explanations, all presented in an engaging, conversational style that will appeal to readers of different backgrounds. The Robotics Primer covers such topics as the definition of robotics, the history of robotics (“Where do Robots Come From?”), robot components, locomotion, manipulation, sensors, control, control architectures, representation, behavior (“Making Your Robot Behave”), navigation, group robotics, learning, and the future of robotics (and its ethical implications). To encourage further engagement, experimentation, and course and lesson design, The Robotics Primer is accompanied by a free robot programming exercise workbook that implements many of the ideas on the book on iRobot platforms. The Robotics Primer is unique as a principled, pedagogical treatment of the topic that is accessible to a broad audience; the only prerequisites are curiosity and attention. It can be used effectively in an educational setting or more informally for self-instruction. The Robotics Primer is a springboard for readers of all backgrounds—including students taking robotics as an elective outside the major, graduate students preparing to specialize in robotics, and K-12 teachers who bring robotics into their classrooms.
Download or read book Autonomous Horizons written by Greg Zacharias and published by Independently Published. This book was released on 2019-04-05 with total page 420 pages. Available in PDF, EPUB and Kindle. Book excerpt: Dr. Greg Zacharias, former Chief Scientist of the United States Air Force (2015-18), explores next steps in autonomous systems (AS) development, fielding, and training. Rapid advances in AS development and artificial intelligence (AI) research will change how we think about machines, whether they are individual vehicle platforms or networked enterprises. The payoff will be considerable, affording the US military significant protection for aviators, greater effectiveness in employment, and unlimited opportunities for novel and disruptive concepts of operations. Autonomous Horizons: The Way Forward identifies issues and makes recommendations for the Air Force to take full advantage of this transformational technology.
Download or read book Readings in Distributed Artificial Intelligence written by Alan H. Bond and published by Morgan Kaufmann. This book was released on 2014-06-05 with total page 668 pages. Available in PDF, EPUB and Kindle. Book excerpt: Most artificial intelligence research investigates intelligent behavior for a single agent--solving problems heuristically, understanding natural language, and so on. Distributed Artificial Intelligence (DAI) is concerned with coordinated intelligent behavior: intelligent agents coordinating their knowledge, skills, and plans to act or solve problems, working toward a single goal, or toward separate, individual goals that interact. DAI provides intellectual insights about organization, interaction, and problem solving among intelligent agents. This comprehensive collection of articles shows the breadth and depth of DAI research. The selected information is relevant to emerging DAI technologies as well as to practical problems in artificial intelligence, distributed computing systems, and human-computer interaction. "Readings in Distributed Artificial Intelligence" proposes a framework for understanding the problems and possibilities of DAI. It divides the study into three realms: the natural systems approach (emulating strategies and representations people use to coordinate their activities), the engineering/science perspective (building automated, coordinated problem solvers for specific applications), and a third, hybrid approach that is useful in analyzing and developing mixed collections of machines and human agents working together. The editors introduce the volume with an important survey of the motivations, research, and results of work in DAI. This historical and conceptual overview combines with chapter introductions to guide the reader through this fascinating field. A unique and extensive bibliography is also provided.
Download or read book Robotics Research written by Sebastian Thrun and published by Springer. This book was released on 2007-05-16 with total page 582 pages. Available in PDF, EPUB and Kindle. Book excerpt: This volume contains 50 papers presented at the 12th International Symposium of Robotics Research, which took place October 2005 in San Francisco, CA. Coverage includes: physical human-robot interaction, humanoids, mechanisms and design, simultaneous localization and mapping, field robots, robotic vision, robot design and control, underwater robotics, learning and adaptive behavior, networked robotics, and interfaces and interaction.
Download or read book Probabilistic Robotics written by Sebastian Thrun and published by MIT Press. This book was released on 2005-08-19 with total page 668 pages. Available in PDF, EPUB and Kindle. Book excerpt: An introduction to the techniques and algorithms of the newest field in robotics. Probabilistic robotics is a new and growing area in robotics, concerned with perception and control in the face of uncertainty. Building on the field of mathematical statistics, probabilistic robotics endows robots with a new level of robustness in real-world situations. This book introduces the reader to a wealth of techniques and algorithms in the field. All algorithms are based on a single overarching mathematical foundation. Each chapter provides example implementations in pseudo code, detailed mathematical derivations, discussions from a practitioner's perspective, and extensive lists of exercises and class projects. The book's Web site, www.probabilistic-robotics.org, has additional material. The book is relevant for anyone involved in robotic software development and scientific research. It will also be of interest to applied statisticians and engineers dealing with real-world sensor data.
Download or read book International Aerospace Abstracts written by and published by . This book was released on 1999 with total page 1016 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Model Predictive Control for Microgrids written by Jiefeng Hu and published by Energy Engineering. This book was released on 2021-09 with total page 300 pages. Available in PDF, EPUB and Kindle. Book excerpt: Model predictive control (MPC) is a method for controlling a process while satisfying a set of constraints. The use of MPC for controlling power systems has been gaining traction in recent years. This work presents the use of MPC for distributed renewable power generation in microgrids.
Download or read book Creating Autonomous Vehicle Systems written by Shaoshan Liu and published by Morgan & Claypool Publishers. This book was released on 2017-10-25 with total page 285 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is the first technical overview of autonomous vehicles written for a general computing and engineering audience. The authors share their practical experiences of creating autonomous vehicle systems. These systems are complex, consisting of three major subsystems: (1) algorithms for localization, perception, and planning and control; (2) client systems, such as the robotics operating system and hardware platform; and (3) the cloud platform, which includes data storage, simulation, high-definition (HD) mapping, and deep learning model training. The algorithm subsystem extracts meaningful information from sensor raw data to understand its environment and make decisions about its actions. The client subsystem integrates these algorithms to meet real-time and reliability requirements. The cloud platform provides offline computing and storage capabilities for autonomous vehicles. Using the cloud platform, we are able to test new algorithms and update the HD map—plus, train better recognition, tracking, and decision models. This book consists of nine chapters. Chapter 1 provides an overview of autonomous vehicle systems; Chapter 2 focuses on localization technologies; Chapter 3 discusses traditional techniques used for perception; Chapter 4 discusses deep learning based techniques for perception; Chapter 5 introduces the planning and control sub-system, especially prediction and routing technologies; Chapter 6 focuses on motion planning and feedback control of the planning and control subsystem; Chapter 7 introduces reinforcement learning-based planning and control; Chapter 8 delves into the details of client systems design; and Chapter 9 provides the details of cloud platforms for autonomous driving. This book should be useful to students, researchers, and practitioners alike. Whether you are an undergraduate or a graduate student interested in autonomous driving, you will find herein a comprehensive overview of the whole autonomous vehicle technology stack. If you are an autonomous driving practitioner, the many practical techniques introduced in this book will be of interest to you. Researchers will also find plenty of references for an effective, deeper exploration of the various technologies.
Download or read book Automated Planning and Acting written by Malik Ghallab and published by Cambridge University Press. This book was released on 2016-08-09 with total page 373 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents the most recent and advanced techniques for creating autonomous AI systems capable of planning and acting effectively.
Download or read book Autonomous and Autonomic Systems With Applications to NASA Intelligent Spacecraft Operations and Exploration Systems written by Walt Truszkowski and published by Springer Science & Business Media. This book was released on 2009-11-12 with total page 295 pages. Available in PDF, EPUB and Kindle. Book excerpt: In the early 1990s, NASA Goddard Space Flight Center started researching and developing autonomous and autonomic ground and spacecraft control systems for future NASA missions. This research started by experimenting with and developing expert systems to automate ground station software and reduce the number of people needed to control a spacecraft. This was followed by research into agent-based technology to develop autonomous ground c- trol and spacecraft. Research into this area has now evolved into using the concepts of autonomic systems to make future space missions self-managing and giving them a high degree of survivability in the harsh environments in which they operate. This book describes much of the results of this research. In addition, it aimstodiscusstheneededsoftwaretomakefutureNASAspacemissionsmore completelyautonomousandautonomic.Thecoreofthesoftwareforthesenew missions has been written for other applications or is being applied gradually in current missions, or is in current development. It is intended that this book should document how NASA missions are becoming more autonomous and autonomic and should point to the way of making future missions highly - tonomous and autonomic. What is not covered is the supporting hardware of these missions or the intricate software that implements orbit and at- tude determination, on-board resource allocation, or planning and scheduling (though we refer to these technologies and give references for the interested reader).
